Pressure-maintaining robot for installing skylight glass

Abstract

The present invention discloses a pressure-maintaining manipulator for installing skylight glass, comprising a moving device (1), a lifting device (2) mounted on the moving device (1), a floating mechanism (3) connected to the lower end of the lifting device (2), a first mounting frame (4) mounted on the floating mechanism (3), and a plurality of skylight glass suction cups (5) and a plurality of pressure-maintaining cylinders (6) provided on the first mounting frame (4). The present invention can facilitate alignment during assembly and improve production efficiency, and can also achieve pressure-maintaining installation and improve product quality.

Description

Technical Field

[0001] The invention relates to a pressure-maintaining robot for installing skylight glass. Background Art

[0002] With growing demand for automobiles, the variety of vehicle configurations is also increasing, and vehicles with sunroofs are becoming the preferred choice for more and more consumers. The quality of sunroof installation directly affects the sealing of the entire vehicle. On high-volume, flexible automotive assembly lines, achieving pressure-maintaining installation of sunroofs and achieving rapid alignment of sunroof glass during installation have become essential process considerations.

[0003] Currently, existing manual assembly methods lack a pressure-maintaining function, resulting in some vehicles experiencing issues such as leaks at the canopy installation location after a period of use, impacting normal vehicle operation. Furthermore, manual assembly with existing technology presents difficulties in aligning holes, which is time-consuming and labor-intensive, impacting production schedules. Summary of the Invention

[0004] The purpose of the present invention is to provide a pressure-maintaining robot for installing skylight glass to solve the technical problems in the prior art. It can facilitate alignment during assembly and improve production efficiency, and can also achieve pressure-maintaining installation and improve product quality.

[0005] The present invention provides a pressure-maintaining robot for installing skylight glass, comprising a moving device, a lifting device installed on the moving device, a floating mechanism connected to the lower end of the lifting device, a first mounting frame installed on the floating mechanism, and a plurality of skylight glass suction cups and a plurality of pressure-maintaining cylinders provided on the first mounting frame.

[0006] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, the moving device includes a moving frame, a lifting device mounting frame, a pulley and a drive motor, four pulleys are provided on the top of the moving frame, and the bottom of the moving frame is fixedly connected to the top of the lifting device mounting frame through four mounting seats, and two mounting beams are provided in the lifting device mounting frame, and a lifting device mounting plate is fixed on each of the two mounting beams.

[0007] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an "L"-shaped support frame is fixed on the movable frame, and the "L"-shaped support frame is rotatably connected to the motor mounting frame through a rotating shaft, the driving motor is fixed at one end of the motor mounting frame, and a driving wheel is installed on the output shaft of the driving motor. A motor height adjustment cylinder is provided at the end of the support frame away from the driving motor, and the telescopic end of the motor height adjustment cylinder is rotatably connected to the other end of the motor mounting frame.

[0008] In the aforementioned pressure-maintaining manipulator for installing skylight glass, preferably, the lifting device includes a guide rail mounting tube, a guide rail, a first single-rod cylinder, a second single-rod cylinder and a floating mechanism connecting plate, the guide rail mounting tube is arranged vertically, the middle part of the guide rail mounting tube is fixedly connected to the two lifting device mounting plates, the guide rail is plugged and slidably connected to the guide rail mounting tube, the lower end of the guide rail extends out of the lower end of the guide rail mounting tube and is fixedly connected to the floating mechanism connecting plate, the first single-rod cylinder is fixed on the outer wall of the upper end of the guide rail mounting tube, the lower end of the second single-rod cylinder is rotatably connected to the floating mechanism connecting plate, and the telescopic end of the first single-rod cylinder is connected to the telescopic end of the second single-rod cylinder by a first internal threaded connecting sleeve.

[0009] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an open groove is provided on one side of the guide rail mounting tube, an L-shaped limit block is fixed on the guide rail, and a limit cylinder is fixed on one side of the open groove.

[0010] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, the floating mechanism includes an upper mounting plate, a middle mounting plate and a lower mounting plate, the floating mechanism connecting plate is fixedly connected to the top surface of the upper mounting plate, the bottom of the upper mounting plate is provided with a first shaft sleeve and a second shaft sleeve arranged in parallel, the first shaft sleeve and the second shaft sleeve are respectively fixed at the two ends of the bottom of the upper mounting plate, and the top surface of the middle mounting plate is provided with a third shaft sleeve and a fourth shaft sleeve arranged in parallel, the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve are arranged in the same plane and are distributed in a "mouth" shape, and a connecting shaft is respectively slidably installed in the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve, and the four connecting shafts are connected by four connecting blocks, and each of the connecting shafts is respectively sleeved with two springs.

[0011] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an upper connecting seat is provided at the center position of the bottom surface of the middle-level mounting plate, and a lower connecting seat is provided at the center position of the top surface of the lower-level mounting plate, the upper connecting seat and the lower connecting seat are connected by a rotating shaft, the first mounting frame is fixedly connected to the lower-level mounting plate, a first cylinder is provided on the top surface of the lower-level mounting plate, a cylinder mounting plate is fixedly provided on one side of the middle-level mounting plate, a second cylinder is installed on the cylinder mounting plate, and the telescopic end of the second cylinder is connected to the telescopic end of the first cylinder via a second internal threaded connecting sleeve.

[0012] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an operating handle is fixedly provided on one set of opposite sides of the first installation frame, and a plurality of pressure-regulating valve assemblies are fixedly provided on the top of the first installation frame.

[0013] Compared with the prior art, the present invention includes a moving device, a lifting device is installed on the moving device, the lower end of the lifting device is connected to a floating mechanism, a first installation frame is installed on the floating mechanism, and the first installation frame is provided with a plurality of skylight glass suction cups and a plurality of pressure-maintaining cylinders. The present invention uses the skylight glass suction cup to absorb the skylight glass, so that the robot grasps and releases the skylight glass, uses the moving device to transport the skylight glass, and uses the lifting device to achieve height adjustment of the skylight glass. The present invention is provided with a floating mechanism, which can realize the rapid alignment of the skylight glass holes during installation, thereby improving installation efficiency, and can realize pressure-maintaining installation by using the pressure-maintaining cylinder, effectively improving the installation quality of the skylight glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is an axonometric drawing of the present invention;

[0015] Figure 2 It is an axonometric view of the mobile;

[0016] Figure 3 It is an axonometric drawing of the lifting device;

[0017] Figure 4 This is an axonometric drawing of the lifting device from another angle;

[0018] Figure 5 It is an axonometric view of the floating mechanism;

[0019] Figure 6 It is a structural diagram of the upper mounting plate and the components thereon;

[0020] Figure 7 It is a structural diagram of the middle-layer mounting plate and the components thereon;

[0021] Figure 8 It is a schematic diagram of the connection structure between the middle installation plate and the lower installation plate;

[0022] Figure 9 It is a structural diagram of the first mounting frame and the components thereon;

[0023] Figure 10 It is a structural diagram of a multi-angle adjustable bracket and a skylight glass suction cup.

[0024] Description of the accompanying drawings: moving device 1, lifting device 2, floating mechanism 3, first mounting frame 4, skylight glass suction cup 5, pressure-maintaining cylinder 6, moving frame 7, lifting device mounting frame 8, pulley 9, driving motor 10, mounting seat 11, mounting beam 12, lifting device mounting plate 13, "L"-shaped support frame 14, motor mounting frame 15, driving wheel 16, motor height adjustment cylinder 17, guide rail mounting tube 18, guide rail 19, first single-rod cylinder 20, second single-rod cylinder 21, floating mechanism connecting plate 22, first internal thread connecting sleeve 23, opening groove 24, L-shaped limit block 25, limit cylinder 26, upper mounting plate 27, Middle mounting plate 28, lower mounting plate 29, first shaft sleeve 30, second shaft sleeve 31, third shaft sleeve 32, fourth shaft sleeve 33, connecting shaft 34, connecting block 35, spring 36, upper connecting seat 37, lower connecting seat 38, first cylinder 39, cylinder mounting plate 40, second cylinder 41, second internal threaded connecting sleeve 42, operating handle 43, pressure regulating valve assembly 44, floating mechanism locking cylinder 45, locking hole 46, side plate 47, L-shaped connecting plate 48, controller 49, frame connecting seat 50, first connecting pipe 51, first pipe clamp 52, second connecting pipe 53, second pipe clamp 54, third connecting pipe 55, part mounting seat 56. DETAILED DESCRIPTION

[0025] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0026] Embodiments of the present invention: Figures 1-10 As shown, a pressure-maintaining robot for installing skylight glass includes a moving device 1, a lifting device 2 is installed on the moving device 1, the lower end of the lifting device 2 is connected to a floating mechanism 3, a first mounting frame 4 is installed on the floating mechanism 3, and the first mounting frame 4 is provided with multiple skylight glass suction cups 5 and multiple pressure-maintaining cylinders 6.

[0027] The skylight glass suction cup 5 can firmly adsorb the skylight glass, and the moving device 1 can move the skylight glass to the installation station. Then, the lifting device 2 can control the skylight glass to descend to the appropriate position, and the floating mechanism 3 can quickly align the installation holes. The pressure-maintaining cylinder 6 can be used to apply pressure to the skylight glass to achieve pressure-maintaining installation, which greatly improves the installation efficiency and quality.

[0028] In this embodiment, specifically, the moving device 1 includes a moving frame 7, a lifting device mounting frame 8, a pulley 9 and a drive motor 10. Four pulleys 9 are provided on the top of the moving frame 7. The bottom of the moving frame 7 is fixedly connected to the top of the lifting device mounting frame 8 through four mounting seats 11. Two mounting beams 12 are provided in the lifting device mounting frame 8, and a lifting device mounting plate 13 is fixed on each of the two mounting beams 12.

[0029] The pulley 9 and the drive motor 10 are existing products and can be purchased directly. The movable frame 7 is a rectangular frame. Two pulleys 9 form a group. The two pulleys 9 in the same group are installed on a walking track (not shown in the figure). There are two walking tracks in the factory building. The four pulleys 9 can ensure stability during movement.

[0030] Furthermore, an L-shaped support frame 14 is fixed on the mobile frame 7, and the L-shaped support frame 14 is rotatably connected to the motor mounting frame 15 through a rotating shaft. The drive motor 10 is fixed at one end of the motor mounting frame 15, and a drive wheel 16 is installed on the output shaft of the drive motor 10. A motor height adjustment cylinder 17 is provided at the end of the support frame 14 away from the drive motor 10, and the telescopic end of the motor height adjustment cylinder 17 is rotatably connected to the other end of the motor mounting frame 15.

[0031] Depend on Figure 2 It can be seen that one end of the motor mounting bracket 15 connected to the drive motor 10 extends to the outside of the mobile frame 7, the drive motor 10 is located outside the mobile frame 7, and the drive wheel 16 on the drive motor 10 is aligned with one of the groups of pulleys 9. The height of the drive motor 10 can be adjusted by adjusting the extension of the motor height adjustment cylinder 17 to achieve contact or separation between the drive wheel 16 and the bottom surface of the walking track and adjust the contact force between the drive wheel 16 and the bottom surface of the walking track.

[0032] When the drive motor 10 is working, the drive wheel 16 rotates, and the drive wheel 16 contacts the bottom surface of the walking track, driving the entire manipulator to move.

[0033] Furthermore, the lifting device 2 includes a guide rail mounting tube 18, a guide rail 19, a first single-rod cylinder 20, a second single-rod cylinder 21 and a floating mechanism connecting plate 22. The guide rail mounting tube 18 is arranged vertically, and the middle part of the guide rail mounting tube 18 is fixedly connected to the two lifting device mounting plates 13. The guide rail 19 is plugged into and slidably connected to the guide rail mounting tube 18. The lower end of the guide rail 19 extends out of the lower end of the guide rail mounting tube 18 and is fixedly connected to the floating mechanism connecting plate 22. The first single-rod cylinder 20 is fixed on the outer wall of the upper end of the guide rail mounting tube 18, and the lower end of the second single-rod cylinder 21 is rotatably connected to the floating mechanism connecting plate 22. The telescopic end of the first single-rod cylinder 20 is connected to the telescopic end of the second single-rod cylinder 21 through a first internal threaded connecting sleeve 23.

[0034] The guide rail mounting tube 18 serves to mount the guide rail 19 . The guide rail 19 can only move up and down in the vertical direction within the guide rail mounting tube 18 without generating any horizontal displacement. The outer wall of the guide rail 19 contacts and is slidably connected to the inner wall of the guide rail mounting tube 18 .

[0035] The guide rail mounting tube 18 has four side walls, one of which has a mounting base fixedly mounted on the upper end for mounting a first single-rod cylinder 20. The first single-rod cylinder 20 is rotatably connected to the mounting base via a rotating shaft. Similarly, a mounting base for mounting a second single-rod cylinder 21 is fixedly mounted on the top surface of the floating mechanism connecting plate 22. The lower end of the second single-rod cylinder 21 is rotatably connected to the mounting base via a rotating shaft. The second single-rod cylinder 21 is located directly below the first single-rod cylinder 20, and the two are coaxially arranged. During operation, the first single-rod cylinder 20 and the second single-rod cylinder 21 extend or retract simultaneously, effectively increasing the height adjustment speed and improving work efficiency. Of course, only one of the cylinders can be used during operation, with the other as a backup. In this way, if one cylinder is damaged, the other cylinder can still operate normally without affecting the production cycle.

[0036] Preferably, an opening slot 24 is formed on one side of the guide rail mounting tube 18 , an L-shaped limit block 25 is fixed on the guide rail 19 , and a limit cylinder 26 is fixed on one side of the opening slot 24 .

[0037] In this embodiment, the sidewall where the opening slot 24 is located is opposite the sidewall where the first single-rod cylinder 20 is mounted. An L-shaped limit block 25 moves with the guide rail 19 and is located within the vertically extending opening slot 24. The open end of the opening slot 24 is located at the lower end of the guide rail mounting tube 18. The cylinder rod of the limit cylinder 26 is perpendicular to the length of the opening slot 24 and is in a permanently extended state. This serves to limit the maximum downward movement of the guide rail 19. When the L-shaped limit block 25 contacts the cylinder rod of the limit cylinder 26, the guide rail 19 reaches its maximum downward movement position and cannot move further downward, thereby protecting the skylight glass. The limit cylinder 26 is only controlled to retract when the guide rail 19 needs to be removed.

[0038] Furthermore, the floating mechanism 3 includes an upper mounting plate 27, a middle mounting plate 28 and a lower mounting plate 29. The floating mechanism connecting plate 22 is fixedly connected to the top surface of the upper mounting plate 27. The bottom of the upper mounting plate 27 is provided with a first shaft sleeve 30 and a second shaft sleeve 31 arranged in parallel. The first shaft sleeve 30 and the second shaft sleeve 31 are respectively fixed at the two ends of the bottom of the upper mounting plate 27. The top surface of the middle mounting plate 28 is provided with a third shaft sleeve 32 and a fourth shaft sleeve 33 arranged in parallel. The first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 are arranged in the same plane and are distributed in a "mouth" shape. A connecting shaft 34 is respectively slidably installed in the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33. The four connecting shafts 34 are connected by four connecting blocks 35. Two springs 36 are respectively sleeved on each connecting shaft 34.

[0039] The specifications and structures of the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 are exactly the same. The first shaft sleeve 30 is opposite to the second shaft sleeve 31, and the third shaft sleeve 32 is opposite to the fourth shaft sleeve 33. The lengths of the four connecting shafts 34 are the same and greater than the lengths of the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33. The four connecting shafts 34 are connected together by four connecting blocks 35 to form a square. The connection of the four connecting shafts 34 is realized by the connection of the middle mounting plate 28 and the upper mounting plate 27, and the middle mounting plate 28 can move in the four directions of front, back, left and right relative to the upper mounting plate 27.

[0040] Each connecting shaft 34 is sleeved with two springs 36. Taking the third sleeve 32 as an example, the two springs 36 are located on either side of the third sleeve 32. The ends of the springs 36 abut against the end faces of the third sleeve 32 and the end faces of the connecting block 35 on the same side, respectively. When the third sleeve 32 moves toward one end under the action of an external force, the springs 36 automatically return the third sleeve 32 to the center of the connecting shaft 34 after the external force is removed. Furthermore, the springs 36 overcome the elastic force of the springs 36 when an external force is applied, preventing excessive movement and protecting the skylight glass. The other three sleeves operate in the same manner.

[0041] Furthermore, an upper connecting seat 37 is provided at the center position of the bottom surface of the middle mounting plate 28, and a lower connecting seat 38 is provided at the center position of the top surface of the lower mounting plate 29. The upper connecting seat 37 and the lower connecting seat 38 are connected by a rotating shaft. The first mounting frame 4 is fixedly connected to the lower mounting plate 29. A first cylinder 39 is provided on the top surface of the lower mounting plate 29. A cylinder mounting plate 40 is fixedly provided on one side of the middle mounting plate 28. A second cylinder 41 is installed on the cylinder mounting plate 40. The telescopic end of the second cylinder 41 is connected to the telescopic end of the first cylinder 39 through a second internal threaded connecting sleeve 42.

[0042] Specifically, the middle mounting plate 28 is provided with side plates 47 fixed at both ends of the third and fourth shaft sleeves 32 and 33. The two side plates 47 are connected at the same end by an L-shaped connecting plate 48. One end of the cylinder mounting plate 40 is fixedly connected to the L-shaped connecting plate 48, and the other end of the cylinder mounting plate 40 is rotatably connected to the upper end of the second cylinder 41. The second cylinder 41 is located above the first cylinder 39 and is coaxially arranged. The first and second cylinders 39 and 41 are provided here primarily to prevent damage to the cylinders. During normal operation, only one of the first and second cylinders 39 and 41 is in operation, while the other is on standby.

[0043] By controlling the extension and contraction of the first cylinder 39 or the second cylinder 41 , the angle between the middle mounting plate 28 and the lower mounting plate 29 can be adjusted, thereby facilitating the installation of the skylight glass.

[0044] In a preferred embodiment, a floating mechanism locking cylinder 45 is fixedly installed on the top of the upper mounting plate 27, and the telescopic end of the floating mechanism locking cylinder 45 vertically penetrates the upper mounting plate 27 downward, and a locking hole 46 is provided on the middle mounting plate 28. The locking hole 46 is a funnel-shaped hole with a larger upper end and a smaller lower end. The minimum diameter of the lower end of the locking hole 46 is equal to the diameter of the telescopic rod of the floating mechanism locking cylinder 45.

[0045] Furthermore, an operating handle 43 is fixedly provided on one set of opposite sides of the first mounting frame 4. A plurality of pressure regulating valve assemblies 44 are fixedly provided on the top of the first mounting frame 4. The pressure regulating valve assemblies 44 are connected to the canopy glass suction cup 5 and the pressure-maintaining cylinder 6 via air pipes. The pressure regulating valve assemblies 44, the canopy glass suction cup 5, and the pressure-maintaining cylinder 6 are all commercially available products.

[0046] In this embodiment, six pressure-regulating valve assemblies 44 are provided on the first mounting frame 4, and a controller 49 is provided on each of the two operating handles 43. Three of the pressure-regulating valve assemblies 44 are located on the same side as one of the operating handles 43, and the other three pressure-regulating valve assemblies 44 are located on the same side as the other operating handle 43. The actual number and distribution of the skylight glass suction cups 5 and the pressure-maintaining cylinders 6 on the first mounting frame 4 are set according to actual needs and are not specifically limited in this embodiment. The two controllers 49 have the same function and can both control the operating status of the pressure-regulating valve assemblies 44, the drive motor 10, the motor height adjustment cylinder 17, the first single-rod cylinder 20, the second single-rod cylinder 21, the limit cylinder 26, the first cylinder 39, the second cylinder 41, and the floating mechanism locking cylinder 45. The controller 49 is a PLC programmable controller, and those skilled in the art can customize the functions of the controller 49 according to actual needs.

[0047] Each awning glass suction cup 5 and pressure-maintaining cylinder 6 is connected to the first mounting frame 4 via a multi-angle adjustable bracket. This ensures that the working surfaces of each awning glass suction cup 5 and pressure-maintaining cylinder 6 are perpendicular to the corresponding awning glass, ensuring secure adhesion of the awning glass suction cup 5 and effective pressure supply from the pressure-maintaining cylinder 6. It should be noted that fixed-angle brackets can also be used in place of multi-angle adjustable brackets. However, these brackets are only suitable for mounting awning glass of a certain size.

[0048] The multi-angle adjustable bracket includes a frame connecting seat 50, a first connecting tube 51, a first pipe clamp 52, a second connecting tube 53, a second pipe clamp 54, a third connecting tube 55 and a part mounting seat 56. The frame connecting seat 50 is fixedly connected to the first mounting frame 4 by bolts, the first connecting tube 51 is fixed to the frame connecting seat 50, the second connecting tube 53 is connected to the first connecting tube 51 through the first pipe clamp 52, the second connecting tube 53 is perpendicular to the first connecting tube 51, the third connecting tube 55 is connected to the second connecting tube 53 through the second pipe clamp 54, the third connecting tube 55 is perpendicular to the second connecting tube 53, the part mounting seat 56 is fixed to the end of the third connecting tube 55, and a part mounting hole is opened on the part mounting seat 56.

[0049] By setting up this multi-angle adjustable bracket, the skylight glass suction cup 5 and the pressure-maintaining cylinder 6 can be adjusted to the required angle according to needs.

[0050] The working principle of the present invention is as follows: when working, the working state of the pressure regulating valve assembly 44 is controlled by the controller 49, so that the skylight glass suction cup 5 generates negative pressure to adsorb the skylight glass, and then the first single-rod cylinder 20 and / or the second single-rod cylinder 21 are controlled to contract by the controller 49 to make the skylight glass rise. At this time, the floating mechanism locking cylinder 45 is in an extended state, and the telescopic rod of the floating mechanism locking cylinder 45 is inserted into the locking hole 46. At this time, the floating mechanism 3 is in a locked state, and then the motor height adjustment cylinder 17 is controlled by the controller 49 to contract to make the drive motor 10 rise in height until the drive wheel 16 thereon abuts against the bottom surface of the walking track. When the drive motor 10 is working, the drive wheel 16 rotates to make the entire manipulator move along the walking track to realize the transportation of the skylight glass. When the skylight glass is transported to the installation station, the drive motor 10 stops working.

[0051] The controller 49 controls the extension of the first and / or second single-rod cylinders 20 and 21 until the skylight glass reaches the installation height. At this point, the controller 49 controls the floating mechanism locking cylinder 45 to retract, separating its telescopic rod from the locking hole 46. The floating mechanism 3 is then unlocked. Two personnel, standing on either side of the manipulator, hold the operating handle 43. The connecting shaft 34 slides with the first, second, third, and fourth sleeves 30, 31, 32, and 33 to adjust the position of the skylight glass in the forward, backward, left, and right directions, enabling quick alignment with the installation hole. If the angle of the skylight glass relative to the horizontal plane needs to be adjusted, the controller 49 adjusts the extension and retraction of the first and / or second cylinders 39 and 41. Once aligned with the installation hole, the skylight glass is slowly lowered until it contacts the vehicle body. The controller 49 then controls the pressure-regulating valve assembly 44, causing it to extend the pressure-maintaining cylinder 6, which applies a preset pressure to the skylight glass. After the personnel secure the skylight glass, the pressure is maintained for a preset time. When the preset time is reached, the skylight glass suction cup 5 releases the skylight glass, the pressure-holding cylinder 6 contracts, the first single-rod cylinder 20 and / or the second single-rod cylinder 21 contracts, and the floating mechanism 3 and the first mounting bracket 4 rise to a preset height. Under the action of the spring 36, the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 all return to their positions automatically, the telescopic rod of the floating mechanism locking cylinder 45 is extended and inserted into the locking hole 46, the floating mechanism 3 is locked, and the manipulator is returned to the skylight glass storage station by driving the motor 10 to wait for the next working cycle.

[0052] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the scope of implementation of the present invention is not limited to what is shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which do not exceed the spirit covered by the description and drawings, should be within the scope of protection of the present invention.

Claims

1. A pressure-maintaining manipulator for installing skylight glass, comprising a moving device (1), characterized in that: The moving device (1) is equipped with a lifting device (2), the lower end of the lifting device (2) is connected to a floating mechanism (3), a first mounting frame (4) is equipped with a plurality of skylight glass suction cups (5) and a plurality of pressure-maintaining cylinders (6); The floating mechanism (3) includes an upper mounting plate (27), a middle mounting plate (28) and a lower mounting plate (29), the floating mechanism connecting plate (22) is fixedly connected to the top surface of the upper mounting plate (27), the bottom of the upper mounting plate (27) is provided with a first shaft sleeve (30) and a second shaft sleeve (31) arranged in parallel, the first shaft sleeve (30) and the second shaft sleeve (31) are respectively fixed at the two ends of the bottom of the upper mounting plate (27), the top surface of the middle mounting plate (28) is provided with a third shaft sleeve (31) arranged in parallel 2) and a fourth shaft sleeve (33), the first shaft sleeve (30), the second shaft sleeve (31), the third shaft sleeve (32) and the fourth shaft sleeve (33) are arranged in the same plane and are distributed in a "mouth" shape, and a connecting shaft (34) is slidably installed in each of the first shaft sleeve (30), the second shaft sleeve (31), the third shaft sleeve (32) and the fourth shaft sleeve (33), and the four connecting shafts (34) are connected by four connecting blocks (35), and two springs (36) are respectively sleeved on each of the connecting shafts (34); An upper connecting seat (37) is provided at the center position of the bottom surface of the middle-layer mounting plate (28), and a lower connecting seat (38) is provided at the center position of the top surface of the lower-layer mounting plate (29). The upper connecting seat (37) and the lower connecting seat (38) are connected via a rotating shaft. The first mounting frame (4) is fixedly connected to the lower-layer mounting plate (29). A first cylinder (39) is provided on the top surface of the lower-layer mounting plate (29). A cylinder mounting plate (40) is fixedly provided on one side of the middle-layer mounting plate (28). A second cylinder (41) is installed on the cylinder mounting plate (40). The telescopic end of the second cylinder (41) is connected to the telescopic end of the first cylinder (39) via a second internal threaded connecting sleeve (42).

2. The pressure-maintaining robot for installing skylight glass according to claim 1, characterized in that: The moving device (1) comprises a moving frame (7), a lifting device mounting frame (8), a pulley (9) and a driving motor (10), four pulleys (9) are arranged on the top of the moving frame (7), the bottom of the moving frame (7) is fixedly connected to the top of the lifting device mounting frame (8) through four mounting seats (11), two mounting beams (12) are arranged in the lifting device mounting frame (8), and a lifting device mounting plate (13) is fixedly provided on each of the two mounting beams (12).

3. The pressure-maintaining robot for installing skylight glass according to claim 2, characterized in that: An L-shaped support frame (14) is fixedly provided on the mobile frame (7), and the L-shaped support frame (14) is rotatably connected to the motor mounting frame (15) via a rotating shaft. The drive motor (10) is fixedly provided at one end of the motor mounting frame (15), and a drive wheel (16) is installed on the output shaft of the drive motor (10). A motor height adjustment cylinder (17) is provided at one end of the support frame (14) away from the drive motor (10), and a telescopic end of the motor height adjustment cylinder (17) is rotatably connected to the other end of the motor mounting frame (15).

4. The pressure-maintaining robot for installing skylight glass according to claim 2, characterized in that: The lifting device (2) includes a guide rail mounting tube (18), a guide rail (19), a first single-rod cylinder (20), a second single-rod cylinder (21) and a floating mechanism connecting plate (22), wherein the guide rail mounting tube (18) is arranged vertically, and the middle portion of the guide rail mounting tube (18) is fixedly connected to the two lifting device mounting plates (13), the guide rail (19) is plugged into and slidably connected to the guide rail mounting tube (18), the lower end of the guide rail (19) extends out of the lower end of the guide rail mounting tube (18) and is fixedly connected to the floating mechanism connecting plate (22), the first single-rod cylinder (20) is fixed on the outer wall of the upper end of the guide rail mounting tube (18), the lower end of the second single-rod cylinder (21) is rotatably connected to the floating mechanism connecting plate (22), and the telescopic end of the first single-rod cylinder (20) is connected to the telescopic end of the second single-rod cylinder (21) via a first internal threaded connecting sleeve (23).

5. The pressure-maintaining robot for installing skylight glass according to claim 4, characterized in that: An open slot (24) is provided on one side of the guide rail mounting tube (18), an L-shaped limit block (25) is fixed on the guide rail (19), and a limit cylinder (26) is fixed on one side of the open slot (24).

6. The pressure-maintaining robot for installing skylight glass according to claim 4, characterized in that: An operating handle (43) is fixedly provided on one set of opposite sides of the first mounting frame (4), and a plurality of pressure regulating valve assemblies (44) are fixedly provided on the top of the first mounting frame (4).

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